Bionic walking wheel capable of automatically adapting to soft and hard surfaces of planet

Abstract

The invention relates to a bionic walking wheel capable of automatically adapting to soft and hard surfaces of a planet and belongs to the technical field of engineering bionics; the inner ends of elastic metal sheets of 10-12 casters in one bionic caster group and the inner ends of elastic metal sheets of 10-12 casters in the other bionic caster group are uniformly distributed and fixedly connected to the left part and the right part of the circumferential surface of a rim in an inner wheel respectively; the included angle theta1 of the end faces of the bionic casters of the two bionic caster groups is 155-170 degrees, and the dislocation angle theta2 of the bionic casters of the two bionic caster groups is 20-30 degrees. A soft cushion I is nested in a wheel surface supporting piece and plays a role in preventing falling off; a soft cushion II is connected with the wheel face supporting piece and plays a role of a wheel face together, and the elastic metal sheets play a role in supporting and cushioning. The foot biological structure and the sand crossing mechanism of a jerboa, an desert typical animal, are used for reference, the bionic casters move independently and interact, can adapt to the soft and hard ground environment and cross small obstacles, and is suitable for the soft and hard ground environment where loam and stone coexist such as desert, gobi, moon and Mars, and the bionic walking wheel has the advantages of being simple in structure and high in stability, and is convenient to apply and popularize.

Description

technical field [0001] The invention belongs to the technical field of engineering bionics, and in particular relates to a bionic walking wheel which can autonomously adapt to the soft and hard surfaces of planets. Background technique [0002] As people's demand for resources, especially energy, continues to intensify, resource reserves in conventional areas have become increasingly scarce, and people have gradually shifted mining areas to harsh and extreme environments, such as deserts and Gobi, and even set off a global lunar and Mars exploration boom again. . Whether it is the desert and Gobi in the extreme environment of the earth, or the moon and Mars in the complex environment of deep space, their common feature is the working environment with the coexistence of loose media and rocks. [0003] The wheeled mobile mechanism has the advantages of strong continuity and stability when running on hard ground, but it is easy to sink and generate dust on soft road. The leg-...

AI Technical Summary

Problems solved by technology

However, most of the traditional walking wheels use a single rigid caster or wheel spine structure, which has the disadvantages of poor ride comfort and low mobility.

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